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itersolve: Rename calc_position to calc_position_cb 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-10-27 11:06:46 -04:00
parent 9945cc0f46
commit 92993c062b
8 changed files with 20 additions and 20 deletions
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14
klippy/chelper/itersolve.c
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@ -1,6 +1,6 @@
// Iterative solver for kinematic moves // Iterative solver for kinematic moves
// //
// Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net> // Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
// //
// This file may be distributed under the terms of the GNU GPLv3 license. // This file may be distributed under the terms of the GNU GPLv3 license.
@ -108,7 +108,7 @@ itersolve_find_step(struct stepper_kinematics *sk, struct move *m
, struct timepos low, struct timepos high , struct timepos low, struct timepos high
, double target) , double target)
{ {
sk_callback calc_position = sk->calc_position; sk_calc_callback calc_position_cb = sk->calc_position_cb;
struct timepos best_guess = high; struct timepos best_guess = high;
low.position -= target; low.position -= target;
high.position -= target; high.position -= target;
@ -125,7 +125,7 @@ itersolve_find_step(struct stepper_kinematics *sk, struct move *m
if (fabs(guess_time - best_guess.time) <= .000000001) if (fabs(guess_time - best_guess.time) <= .000000001)
break; break;
best_guess.time = guess_time; best_guess.time = guess_time;
best_guess.position = calc_position(sk, m, guess_time); best_guess.position = calc_position_cb(sk, m, guess_time);
double guess_position = best_guess.position - target; double guess_position = best_guess.position - target;
int guess_sign = signbit(guess_position); int guess_sign = signbit(guess_position);
if (guess_sign == high_sign) { if (guess_sign == high_sign) {
@ -144,7 +144,7 @@ int32_t __visible
itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m) itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m)
{ {
struct stepcompress *sc = sk->sc; struct stepcompress *sc = sk->sc;
sk_callback calc_position = sk->calc_position; sk_calc_callback calc_position_cb = sk->calc_position_cb;
double half_step = .5 * sk->step_dist; double half_step = .5 * sk->step_dist;
double mcu_freq = stepcompress_get_mcu_freq(sc); double mcu_freq = stepcompress_get_mcu_freq(sc);
struct timepos last = { 0., sk->commanded_pos }, low = last, high = last; struct timepos last = { 0., sk->commanded_pos }, low = last, high = last;
@ -165,7 +165,7 @@ itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m)
seek_time_delta += seek_time_delta; seek_time_delta += seek_time_delta;
if (high.time > m->move_t) if (high.time > m->move_t)
high.time = m->move_t; high.time = m->move_t;
high.position = calc_position(sk, m, high.time); high.position = calc_position_cb(sk, m, high.time);
continue; continue;
} }
int next_sdir = dist > 0.; int next_sdir = dist > 0.;
@ -179,7 +179,7 @@ itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m)
if (high.time < last.time + .000000001) if (high.time < last.time + .000000001)
goto seek_new_high_range; goto seek_new_high_range;
high.time = (last.time + high.time) * .5; high.time = (last.time + high.time) * .5;
high.position = calc_position(sk, m, high.time); high.position = calc_position_cb(sk, m, high.time);
continue; continue;
} }
int ret = queue_append_set_next_step_dir(&qa, next_sdir); int ret = queue_append_set_next_step_dir(&qa, next_sdir);
@ -224,7 +224,7 @@ itersolve_calc_position_from_coord(struct stepper_kinematics *sk
struct move m; struct move m;
memset(&m, 0, sizeof(m)); memset(&m, 0, sizeof(m));
move_fill(&m, 0., 0., 1., 0., x, y, z, 0., 1., 0., 0., 1., 0.); move_fill(&m, 0., 0., 1., 0., x, y, z, 0., 1., 0., 0., 1., 0.);
return sk->calc_position(sk, &m, 0.); return sk->calc_position_cb(sk, &m, 0.);
} }
void __visible void __visible

6
klippy/chelper/itersolve.h
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@ -30,12 +30,12 @@ double move_get_distance(struct move *m, double move_time);
struct coord move_get_coord(struct move *m, double move_time); struct coord move_get_coord(struct move *m, double move_time);
struct stepper_kinematics; struct stepper_kinematics;
typedef double (*sk_callback)(struct stepper_kinematics *sk, struct move *m typedef double (*sk_calc_callback)(struct stepper_kinematics *sk, struct move *m
, double move_time); , double move_time);
struct stepper_kinematics { struct stepper_kinematics {
double step_dist, commanded_pos; double step_dist, commanded_pos;
struct stepcompress *sc; struct stepcompress *sc;
sk_callback calc_position; sk_calc_callback calc_position_cb;
}; };
int32_t itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m); int32_t itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m);

6
klippy/chelper/kin_cartesian.c
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@ -37,10 +37,10 @@ cartesian_stepper_alloc(char axis)
struct stepper_kinematics *sk = malloc(sizeof(*sk)); struct stepper_kinematics *sk = malloc(sizeof(*sk));
memset(sk, 0, sizeof(*sk)); memset(sk, 0, sizeof(*sk));
if (axis == 'x') if (axis == 'x')
sk->calc_position = cart_stepper_x_calc_position; sk->calc_position_cb = cart_stepper_x_calc_position;
else if (axis == 'y') else if (axis == 'y')
sk->calc_position = cart_stepper_y_calc_position; sk->calc_position_cb = cart_stepper_y_calc_position;
else if (axis == 'z') else if (axis == 'z')
sk->calc_position = cart_stepper_z_calc_position; sk->calc_position_cb = cart_stepper_z_calc_position;
return sk; return sk;
} }

4
klippy/chelper/kin_corexy.c
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@ -31,8 +31,8 @@ corexy_stepper_alloc(char type)
struct stepper_kinematics *sk = malloc(sizeof(*sk)); struct stepper_kinematics *sk = malloc(sizeof(*sk));
memset(sk, 0, sizeof(*sk)); memset(sk, 0, sizeof(*sk));
if (type == '+') if (type == '+')
sk->calc_position = corexy_stepper_plus_calc_position; sk->calc_position_cb = corexy_stepper_plus_calc_position;
else if (type == '-') else if (type == '-')
sk->calc_position = corexy_stepper_minus_calc_position; sk->calc_position_cb = corexy_stepper_minus_calc_position;
return sk; return sk;
} }

2
klippy/chelper/kin_delta.c
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@ -34,6 +34,6 @@ delta_stepper_alloc(double arm2, double tower_x, double tower_y)
ds->arm2 = arm2; ds->arm2 = arm2;
ds->tower_x = tower_x; ds->tower_x = tower_x;
ds->tower_y = tower_y; ds->tower_y = tower_y;
ds->sk.calc_position = delta_stepper_calc_position; ds->sk.calc_position_cb = delta_stepper_calc_position;
return &ds->sk; return &ds->sk;
} }

2
klippy/chelper/kin_extruder.c
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@ -22,7 +22,7 @@ extruder_stepper_alloc(void)
{ {
struct stepper_kinematics *sk = malloc(sizeof(*sk)); struct stepper_kinematics *sk = malloc(sizeof(*sk));
memset(sk, 0, sizeof(*sk)); memset(sk, 0, sizeof(*sk));
sk->calc_position = extruder_calc_position; sk->calc_position_cb = extruder_calc_position;
return sk; return sk;
} }

4
klippy/chelper/kin_polar.c
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@ -38,8 +38,8 @@ polar_stepper_alloc(char type)
struct stepper_kinematics *sk = malloc(sizeof(*sk)); struct stepper_kinematics *sk = malloc(sizeof(*sk));
memset(sk, 0, sizeof(*sk)); memset(sk, 0, sizeof(*sk));
if (type == 'r') if (type == 'r')
sk->calc_position = polar_stepper_radius_calc_position; sk->calc_position_cb = polar_stepper_radius_calc_position;
else if (type == 'a') else if (type == 'a')
sk->calc_position = polar_stepper_angle_calc_position; sk->calc_position_cb = polar_stepper_angle_calc_position;
return sk; return sk;
} }

2
klippy/chelper/kin_winch.c
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@ -35,6 +35,6 @@ winch_stepper_alloc(double anchor_x, double anchor_y, double anchor_z)
hs->anchor.x = anchor_x; hs->anchor.x = anchor_x;
hs->anchor.y = anchor_y; hs->anchor.y = anchor_y;
hs->anchor.z = anchor_z; hs->anchor.z = anchor_z;
hs->sk.calc_position = winch_stepper_calc_position; hs->sk.calc_position_cb = winch_stepper_calc_position;
return &hs->sk; return &hs->sk;
} }